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A state observer for nonlinear systems and its application to ball and beam system

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2 Author(s)
Jo, N.H. ; Dept. of Electr. Eng., Seoul Nat. Univ., South Korea ; Seo, J.H.

In this paper, we present a state observer for single-input/single-output nonlinear systems which fail to have well defined relative degree. It is shown that there exists a local state observer for a nonlinear system if it has robust relative degree n. The proposed observer utilizes the coordinate change which transforms a system into an approximate normal form. The proposed method is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with other local observers

Published in:

Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 5 )

Date of Publication:

May 2000

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